#include "serial_driver/serial_driver_node.hpp"
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <memory>
#include <io_context/io_context.hpp>

SerialDriverNode::SerialDriverNode()
: Node("serial_driver_node")
{
  // 设置日志级别
  auto logger = this->get_logger();
  logger.set_level(rclcpp::Logger::Level::Info);
  
  // 声明参数
  this->declare_parameter("port_name", "/dev/ttyUSB0");
  this->declare_parameter("baud_rate", 115200);
  
  // 获取参数
  port_name_ = this->get_parameter("port_name").as_string();
  baud_rate_ = this->get_parameter("baud_rate").as_int();
  
  // 初始化串口配置
  port_config_ = std::make_unique<drivers::serial_driver::SerialPortConfig>(
    baud_rate_,
    drivers::serial_driver::FlowControl::NONE,
    drivers::serial_driver::Parity::NONE,
    drivers::serial_driver::StopBits::ONE
  );
  
  // 创建订阅器
  pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
    "target_pose", 10,
    std::bind(&SerialDriverNode::poseCallback, this, std::placeholders::_1));
    
  // 创建定时器，用于检查串口连接状态，100ms检查一次
  timer_ = this->create_wall_timer(
    std::chrono::milliseconds(100),
    std::bind(&SerialDriverNode::timerCallback, this));
    
  RCLCPP_INFO(this->get_logger(), "串口驱动节点已启动");
}

SerialDriverNode::~SerialDriverNode()
{
  closeSerialPort();
}

void SerialDriverNode::closeSerialPort()
{
  if (serial_driver_) {
    try {
      if (serial_driver_->port()->is_open()) {
        serial_driver_->port()->close();
      }
    } catch (...) {}
    serial_driver_.reset();
  }
  if (ctx_) {
    ctx_.reset();
  }
}

bool SerialDriverNode::initializeSerialPort()
{
  try {
    // 完全关闭并清理旧的串口资源
    closeSerialPort();

    // 创建新的IO上下文
    ctx_ = std::make_shared<drivers::common::IoContext>(1);
    
    // 创建新的串口驱动
    serial_driver_ = std::make_unique<drivers::serial_driver::SerialDriver>(*ctx_);
    serial_driver_->init_port(port_name_, *port_config_);
    serial_driver_->port()->open();
    RCLCPP_INFO(this->get_logger(), "串口[%s]已连接", port_name_.c_str());
    return true;
  } catch (const std::exception & ex) {
    RCLCPP_DEBUG(this->get_logger(), "等待串口就绪");
    closeSerialPort();
    return false;
  }
}

void SerialDriverNode::poseCallback(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
{
  if (!serial_driver_ || !serial_driver_->port()->is_open()) {
    return;  // 让timer处理重连
  }
  
  sendSerialData(msg, true);
}

void SerialDriverNode::timerCallback()
{
  if (!serial_driver_ || !serial_driver_->port()->is_open()) {
    initializeSerialPort();
  }
}

void SerialDriverNode::sendSerialData(const geometry_msgs::msg::PoseStamped::SharedPtr msg, bool is_detected)
{
  if (!serial_driver_ || !serial_driver_->port()->is_open()) {
    return;
  }

  // 将四元数转换为欧拉角
  tf2::Quaternion q(
    msg->pose.orientation.x,
    msg->pose.orientation.y,
    msg->pose.orientation.z,
    msg->pose.orientation.w);
  tf2::Matrix3x3 m(q);
  double roll, pitch, yaw;
  m.getRPY(roll, pitch, yaw);
  
  // 构建数据帧
  struct SerialData {
    uint8_t header;
    float x;
    float y;
    float z;
    float roll;
    float pitch;
    float yaw;
    uint8_t is_detected;
  } __attribute__((packed));
  
  SerialData data;
  data.header = 0xA5;
  data.x = static_cast<float>(msg->pose.position.x);
  data.y = static_cast<float>(msg->pose.position.y);
  data.z = static_cast<float>(msg->pose.position.z);
  data.roll = static_cast<float>(roll);
  data.pitch = static_cast<float>(pitch);
  data.yaw = static_cast<float>(yaw);
  data.is_detected = is_detected ? 1 : 0;
  
  // 计算CRC8校验
  uint8_t crc = calculateCRC8(reinterpret_cast<uint8_t*>(&data), sizeof(SerialData));
  
  try {
    // 发送数据
    std::vector<uint8_t> buffer(reinterpret_cast<uint8_t*>(&data),
                             reinterpret_cast<uint8_t*>(&data) + sizeof(SerialData));
    buffer.push_back(crc);
    
    serial_driver_->port()->send(buffer);
    RCLCPP_INFO(this->get_logger(), "发送: x=%.2f y=%.2f z=%.2f yaw=%.2f", 
                data.x, data.y, data.z, data.yaw);
  } catch (const std::exception & ex) {
    RCLCPP_INFO(this->get_logger(), "串口断开，等待重连");
    closeSerialPort();  // 完全关闭串口，下次会重新初始化
  }
}

uint8_t SerialDriverNode::calculateCRC8(const uint8_t *data, size_t length)
{
  // CRC8查找表
  static const uint8_t crc8_table[256] = {
    0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
    0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
    0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
    0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
    0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
    0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
    0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
    0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
    0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
    0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
    0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
    0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
    0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
    0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
    0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
    0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
    0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
    0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
    0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
    0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
    0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
    0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
    0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
    0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
    0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
    0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
    0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
    0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
    0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
    0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
    0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
    0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
  };

  uint8_t crc = 0;
  for (size_t i = 0; i < length; i++) {
    crc = crc8_table[crc ^ data[i]];
  }
  return crc;
}

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<SerialDriverNode>());
  rclcpp::shutdown();
  return 0;
}
